基于旋量代数的机器人运动学建模及应用

Robot Kinematics Modeling and Application Based on Screw Algebra

传统的加速度用两个三维矢量分别表示刚体的转动和移动,运动学及后续的动力学建模过程复杂且极易出错,不能满足构型复杂机器人的建模需求.而旋量将刚体的转动和移动统一为一个整体,能够简化刚体运动的表示形式.基于旋量代数的运动学建模方法,形式简洁、物理意义明确,为机器人的动力学模型、驱动优化及控制精度等问题的研究提供了理论基础.

Traditional acceleration represents the movement and rotation of rigid body with two threedimensional vectors respectively,and the kinematics and the subsequent dynamics modeling process is complex and error-prone,which cannot meet the modeling requirements of the robot with complex configuration.The screw acceleration unites rotation and moving of rigid body as a whole,which simplifies the representation of a rigid body motion.The kinematics modeling method is concise in form and clear in physical meaning,which provides a theoretical basis for the research of dynamic model,drive optimization and controlling accuracy of robot.